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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<li class="navelem"><a class="el" href="namespacecalico.html">calico</a></li><li class="navelem"><a class="el" href="structcalico_1_1RigidBody.html">RigidBody</a></li>  </ul>
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<a href="#pub-attribs">Public Attributes</a> &#124;
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<div class="title">calico::RigidBody Struct Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="world__model_8h_source.html">world_model.h</a>&gt;</code></p>
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Collaboration diagram for calico::RigidBody:</div>
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<div class="center"><img src="structcalico_1_1RigidBody__coll__graph.png" border="0" usemap="#acalico_1_1RigidBody_coll__map" alt="Collaboration graph"/></div>
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Public Attributes</h2></td></tr>
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std::unordered_map&lt; int, Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcalico_1_1RigidBody.html#a9ef4f4a0970873044f524a3fcd7b5682">model_definition</a></td></tr>
<tr class="memdesc:a9ef4f4a0970873044f524a3fcd7b5682"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maps feature id to its 3d point definition resolved in the rigid body frame, \(\mathbf{t}^b_{bx_i}\). Each feature needs a unique integer id. The numerical value of the id does not matter. <br /></td></tr>
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<a class="el" href="classcalico_1_1Pose3.html">Pose3d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcalico_1_1RigidBody.html#a94fa27a592a25869caed2b420af468ca">T_world_rigidbody</a></td></tr>
<tr class="memdesc:a94fa27a592a25869caed2b420af468ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">FROM world TO rigidbody transform, \(\mathbf{T}^w_b\). <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcalico_1_1RigidBody.html#a637c97b6fafebaae78e52cc40a06b794">id</a></td></tr>
<tr class="memdesc:a637c97b6fafebaae78e52cc40a06b794"><td class="mdescLeft">&#160;</td><td class="mdescRight">Id of this rigid body. When adding rigid bodies to the <a class="el" href="classcalico_1_1BatchOptimizer.html">BatchOptimizer</a>, id's for all rigid bodies must be unique. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcalico_1_1RigidBody.html#acb3060fecdee55133d44931193c1db7e">world_pose_is_constant</a></td></tr>
<tr class="memdesc:acb3060fecdee55133d44931193c1db7e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag for keeping this rigid body's world-from-rigidbody pose constant or as a free parameter. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcalico_1_1RigidBody.html#a10740abe70a502c155d87108f2c50eaa">model_definition_is_constant</a></td></tr>
<tr class="memdesc:a10740abe70a502c155d87108f2c50eaa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag for keeping the model definition constant or as free parameters. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><code>Rigidbody</code> object which represents a constellation of points on a rigid body. <br  />
<br  />
<code>model_definition</code> contains 3d points that make up the rigid body resolved in the rigid body frame \(\mathbf{t}^b_{bx_i}\). For example, this could be planar points on a fiducial target in a calibration problem relative to some origin defined on the target.<br  />
<br  />
<code>T_world_rigidbody</code> is the rigid transform TO the world FROM the rigidbody frame such that the model defintion points can be resolved in the world frame by the following: </p><p class="formulaDsp">
\[ \mathbf{T}^w_b = \left[\begin{matrix} \mathbf{R}^w_b &amp; \mathbf{t}^w_{wb}\\ \mathbf{0}&amp;1 \end{matrix}\right]\\ \mathbf{t}^w_{wx_i} = \mathbf{t}^w_{wb} + \mathbf{R}^w_b\mathbf{t}^b_{bx_i} \]
</p>
<p> <br  />
<br  />
Both the model definition and its world pose can be set as either constant or as free parameters in an optimization problem via the flags <code>world_pose_is_constant</code> and <code>model_definition_is_constant</code>.<br  />
<br  />
TODO(yangjames): Replace std::unordered_map with absl::flat_hash_map. </p>
</div><hr/>The documentation for this struct was generated from the following file:<ul>
<li>calico/<a class="el" href="world__model_8h_source.html">world_model.h</a></li>
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